A force/impedance controller.
This controller executes trajectories for force/impedance control of the end effector of a chain of joints. Each point on the trajectory specifies either a wrench or a stiffness for each Cartesian degree of freedom as well as a Cartesian position and orientation. For a degree of freedom, if a stiffness is specified, the controller will attempt to reach the position given with that stiffness. If a wrench is specified, the position information is ignored. The controller linearly interpolates between the position of trajectory points, but not the force/stiffness.
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